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Journal Article
F. Angelini, C. Della Santina,, Garabini, M., Bianchi, M., and Bicchi, A., Control architecture for human-like motion with applications to articulated soft robots, Frontiers in Robotics and AI, vol. 7, p. 117, 2020 [Online]. Available: https://www.frontiersin.org/articles/10.3389/frobt.2020.00117/fullPDF icon control_architecture_for_human-like_motion_with_applications_to_articulated_soft_robots.pdf (4.71 MB)
C. Della Santina, Bianchi, M., Grioli, G., Angelini, F., Catalano, M. G., Garabini, M., and Bicchi, A., Controlling Soft Robots: Balancing Feedback and Feedforward Elements, IEEE Robotics and Automation Magazine, vol. 24, no. 3, pp. 75 - 83, 2017 [Online]. Available: http://ieeexplore.ieee.org/stamp/stamp.jsp?arnumber=7930438PDF icon [PDF] (1.22 MB)
F. Angelini, C. Della Santina,, Garabini, M., Bianchi, M., Gasparri, G. M., Grioli, G., Catalano, M. G., and Bicchi, A., Decentralized Trajectory Tracking Control for Soft Robots Interacting with the Environment, IEEE Transactions on Robotics (T-RO)., vol. Early Access, 2018. PDF icon [PDF] (1.37 MB)
C. Gabellieri, Angelini, F., Arapi, V., Palleschi, A., Catalano, M. G., Grioli, G., Pallottino, L., Bicchi, A., Bianchi, M., and Garabini, M., Grasp It Like a Pro: Grasp of Unknown Objects With Robotic Hands Based on Skilled Human Expertise, IEEE Robotics and Automation Letters, vol. 5, no. 2, 2020 [Online]. Available: https://ieeexplore.ieee.org/document/9000707/authors#authorsPDF icon Gabellieri2020 (372.84 KB)
G. Averta, Angelini, F., Bonilla, M., Bianchi, M., and Bicchi, A., Incrementality and Hierarchies in the Enrollment of Multiple Synergies for Grasp Planning, IEEE Robotics and Automation Letters, vol. 3, pp. 2686-2693, 2018. PDF icon averta_et_al2018.pdf (2.59 MB)
R. Mengacci, Angelini, F., Catalano, M. G., Grioli, G., Bicchi, A., and Garabini, M., On the motion/stiffness decoupling property of articulated soft robots with application to model-free torque iterative learning control, The International Journal of Robotics Research, 2020 [Online]. Available: https://journals.sagepub.com/doi/10.1177/0278364920943275
F. Angelini, Petrocelli, C., Catalano, M. G., Garabini, M., Grioli, G., and Bicchi, A., SoftHandler: An Integrated Soft Robotic System for the Handling of Heterogeneous Objects, IEEE Robotics & Automation Magazine, 2020 [Online]. Available: https://ieeexplore.ieee.org/document/8979304/authors#authorsPDF icon softhandler_an_integrated_soft_robotic_system_for_handling_heterogeneous_objects.pdf (11.47 MB)
M. R, Angelini, F., Catalano, M. G., Grioli, G., Bicchi, A., and Garabini, M., Stiffness Bounds for Resilient and Stable Physical Interaction of Articulated Soft Robots, IEEE Robotics and Automation Letters , vol. 4, 2019 [Online]. Available: https://ieeexplore.ieee.org/document/8772185/authors#authorsPDF icon stiffnessboundsinteraction.pdf (2.61 MB)
F. Angelini, Mengacci, R., C. Della Santina,, Catalano, M. G., Garabini, M., Bicchi, A., and Grioli, G., Time Generalization of Trajectories Learned on Articulated Soft Robots, IEEE Robotics and Automation Letters, vol. 5, pp. 3493–3500, 2020 [Online]. Available: https://ieeexplore.ieee.org/abstract/document/9018257/authorsPDF icon time_generalization_of_trajectories_learned_on_articulated_soft_robots.pdf (1.54 MB)
A. Palleschi, Mengacci, R., Angelini, F., Caporale, D., Pallottino, L., De Luca, A., and Garabini, M., Time-Optimal Trajectory Planning for Flexible Joint Robots, IEEE Robotics and Automation Letters, vol. 5, no. 2, 2020 [Online]. Available: https://ieeexplore.ieee.org/document/8957077/authors#authorsPDF icon opt_traj_fjr.pdf (1.99 MB)